Estun Trio DX4 User manual

QUICK START GUIDE
EARTH SCREW
X8 ENCODER CONNECTOR
X7 I/O SIGNAL CONNECTOR
X6 SAFETY CONNECTOR
X5 ETHERCAT OUT
X4 ETHERCAT IN
X3 MOTOR CONNECTOR
HIGH VOLTAGE CHARGE LED
STATUS DISPLAY
X1 MAIN CIRCUIT CONNECTOR
X2 CONTROL CIRCUIT CONNECTOR
GROUND TERMINAL
DX4
DX4-1A5A ... DX4-130A

2
CONNECTIONS
 SAFETY WARNING
During the installation or use of control systems, users of Trio products must ensure that there is no possibility of injury to any
person or damage to machinery.
Control systems, especially during installation, can malfunction or behave unexpectedly. Bearing this in mind, users must
ensure that even in the event of a malfunction or unexpected behaviour, the safety of an operator or programmer is never
compromised.
U
V
W
Magnetic
Contactor
Noise
Filter
Three-phase,200-240 VAC
Encoder Cable
Secondary Encoder Cable (Optional)
External Regenerative
Resistor
STO Connector
I/O Connector
(Optional)
External Encoder
Power
Cable
Earth Wire
DX4
Motor
Circuit
Breaker
EtherCAT Communication
IN Cable
EtherCAT Communication
OUT Cable
Trio
Motion
Coordinator

3
POWER SUPPLY CONNECTOR WIRING
Prepare the following items before preparing the wiring for the Main Circuit Terminals
and Control Circuit Terminals.
You will require:
Flat-blade
screwdriver: with tip width of 3.0mm to 3.5mm
Cold pressed
terminals:
Sleeve type ferrule with cross-section from 1.5mm 2 to 2.5mm 2
and a length of 10mm
Wiring pliers: Commercially available pliers with crimping and stripping
functions
Follow the procedure below to wire the Main Circuit Terminals and Control Circuit
Terminals.
1. Remove the Main Circuit Terminals and Control Circuit Terminals from the Drive.
2. Peel o the sheath of the wire so that the conductor portion of the cable will
protrude from the tip of the ferrule.
3. Insert the cable into the ferrule (It should protrude 1mm or more from the ferrule).
4. Crimp the cable that has been inserted into the ferrule and cut o the cable
conductor portion protruding from the ferrule (The allowable protruding length after
cutting should not be more than 0.5mm).
5. Insert the crimped cable into the connection terminals directly until the cable is not
easily pulled out (A slight pull is allowed). Figure 1.
6. Make all other connections in the same way.
7. To remove the wiring, pull the cable out of the connection terminals.
8. Use the at-blade screwdriver to press down the spring button corresponding to the
terminal, and then gently pull out the cable. Figure 2.
9. Once the wiring is completed, attach connection terminals to the Drive.
Figure 1
Figure 2

4
POWER SUPPLY CONNECTORS (X1, X2)
Symbols Name Specications and Reference
L1C, L 2C Control power supply
terminals
Single-phase, 200V ac to 240V ac, -15% to +10%,
50Hz or 60Hz
B1, B2, B3 Regenerative Resistor
terminal
There is a factory t short between B2 and B3.
When the busbar capacitance is insucient,
remove the short wiring, and connect an external
regenerative resistor between B1 and B2.
Ground terminal Always connect this terminal to prevent electric
shock.
POWER SUPPLY CONNECTORS (X2)
Symbols Name Specications and Reference
L1, L2, L3 Main circuit power supply
input terminals
Three-phase, 200V ac to 240 V ac, -15% to +10%,
50Hz or 60Hz
P1, P2, N DC terminals
There is a factory t short between P1 and P2.
For using a DC reactor, remove the short wiring,
and connect a DC reactor between P1 and P2.
For using a DC power supply, connects P2 to the
positive pole, and connects N to negative pole.
For the common DC bus, connect all P2 of Drive to
the positive pole, and N to the negative pole.
Ground terminal Always connect this terminal to prevent electric
shock.
MOTOR POWER CONNECTOR (X3)
Pin Symbol Colour
1 U Brown
2 V Gray
3 W Black
X1
X2
L1C
L2C
B1
B2
B3
L1
L2
L3
P1
P2
N
X1
X2
L1C
L2C
B1
B2
B3
L1
L2
L3
P1
P2
N
U
V
W

5
RJ45 ETHERNET CONNECTOR (X4 AND X5)
EtherCAT communication (X4-IN and X5-OUT) are RJ45 terminals. The communication cable from the
network master or controller should be connected to X4-IN and X5-OUT should be connected to the X4-IN
terminal of the next Drive (or network device)
Pin Signal Description
1TX+ Send data +
2TX- Send data -
3RX+ Receive data +
4N/C N/C
5N/C N/C
6RX- Receive data -
7N/C N/C
8N/C N/C
Shell PE Protecting earthing (shield)
Use category 5 (CAT5e SF/UTP) Ethernet communications cables for network connections. Metal shielded connectors are
recommended to prevent signal interference.

6
STO FUNCTION SIGNALS (X6)
This product has the integrated safety function Safe Torque O (STO) according to
IEC 61800-5-2, which is equivalent to an uncontrolled stop in accordance with stop
category 0 of IEC 60204-1, which can protect people from dangerous movements of the
machine and reduce the risk to the operator.
The Safe Torque O (STO) function is a safety function that shuts the Motor current
and turns o Motor output torque by turning o the driving signal of the Drive’s
internal power transistor when safety input signal is detected.
However, the safety function STO is not equivalent to the safety function safe o of
IEC 60204-1, since it does not provide any galvanic insulation. This means that the
Motor terminals can still have dangerous voltage when in STO state.
 PLEASE USE THE PELV/SELV SWITCHING POWER SUPPLYING TO THE IO SIGNAL OF THE STO FUNCTION.
THE EXTERNAL SIGNAL SHALL MEET THE IDLE-CURRENT PRINCIPLE.
Pin Signal Name Function
1 0 V
24 V Power Supply
(Do not use these pins because
they are connected to internal
circuits)
224 V
3HWBB1- HWBB1 Input The STO function takes eect
when the HWBB1 or the HWBB2
signals is turned OFF.
4HWBB1+
5HWBB2- HWBB2 Input
6HWBB2+
7EDM- External Device Monitor
Output
Turns ON when the HWBB1 signal
or the HWBB2 signal is turned OFF.
8EDM+
 Please refer to the User Manual for more information.
PIN 7
PIN 1
PIN 8
PIN 2

7
I/O CONNECTOR (X7)
Pin Name Type Function
1TP1+ Input Touch Probe Input 1
2TP1- Input
3TP2+ Input Touch Probe Input 2
4TP2- Input
5DIN_COM Input Power supply to DIN signals, connect to a 24V dc
power supply or 0V.
6DOUT0+ Output General purpose digital output 0.
7DOUT0- Output
8DOUT1+ Output General purpose digital output 1.
9DOUT1- Output
10 DOUT2+ Output General purpose digital output 2.
11 DOUT2- Output
12 DOUT3+ Output General purpose digital output 3.
13 DOUT3- Output
14 DIN0 Input General purpose digital input 0.
15 DIN1 Input General purpose digital input 1.
16 DIN2 Input General purpose digital input 2.
17 DIN3 Input General purpose digital input 3.
18 DIN4 Input General purpose digital input 4.
19 PIA+ Output Second Encoder Input, channel A.
20 PIA- Output
21 PIB+ Output Second Encoder Input, channel B.
22 PIB- Output
23 PIC+ Output Second Encoder Input, channel C (index pulse).
24 PIC- Output
25 0V Output Supply voltage for second encoder.
26 +5V Output
PIN 1
PIN 13
PIN 14
PIN 26

8
ENCODER PORT (X8)
Pin Symbols Color
1 PG5V Red
2PG0V Black
3N/C N/C
4N/C N/C
5MA+ Green
6MA- Green-Black
7S+ Blue
8S- Blue-Black
9BAT+ Yellow
10 BAT- Yellow-Black
Shell FG Frame ground
ENCODER BATTERY CONNECTION
Absolute encoders are tted on motors with an encoder type of L. These encoders require a battery supply to retain the
absolute encoder data when the Drive power is removed.
This battery supply is provided by an in-line battery tted into a battery box in the cable which allows the encoder supply to be
retained when the Encoder Cable is removed from the Drive.
 To retain absolute encoder data, ensure that the Control power supply to the Drive is ON when the battery supply
is removed.
PIN 10
PIN 2
PIN 9
PIN 1

9
DISPLAY
The Status indicators on the Drive show the status of the EtherCAT
network and the servo control.
The POWER LED indicates power is present to the Control board.
The CHARGE LED indicates the voltage level on the Main circuit.
The seven-segment display shows the status of the motor control.
The LEDs labelled SYS, RUN and ERR along with the LEDs integrated
into the RJ45 connectors are the network status indicators.
U
V
W
DX-104A

10
MOUNTING DIMENSIONS (LOOKING FROM FRONT)
The Drives are based mounted and should be tted to a non-painted metal surface. Mount the Drive vertically, as is shown
below.
Mount the Drives so that the Display Panel is facing toward the operator. Prepare two or three mounting holes for the Drive and
mount it securely in the mounting holes (The number of mounting holes depends on the size of the Drive).
The DX4 can be mounted so that the distance between adjacent Drives is 1mm.
Use all mounting holes to securely mount the Drive to the mounting surface.
To mount the Drive, use a screwdriver that is longer than the depth of the Drive
5
5
5
3
38
172
2x M4
5
5
5
3
65
172
2x M4
5
5
5 5
3
95
172
3x M4
 ENSURE THAT THE VENTILATION SLOTS AT THE TOP AND BOTTOM OF THE DX4 ARE KEPT CLEAR TO ENSURE A FREE
FLOW OF AIR THROUGH THE MODULE.